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ADVRHumanoids / estimation_utils

A collection of estimation utilities
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Steady state error on measurements #3

Open MarcoMagriDev opened 9 months ago

MarcoMagriDev commented 9 months ago

Hi,

I am trying to use your ForceEstimationMomentumBased class to estimate the wrench applied to the robot tcp. Everything works as expected except for a large steady state error on Force values ~5N.

Have you any idea about what can be the cause of this measurement error? Is there any way to make the zero of the torque sensor mounted in the robot joints?

Thanks, Marco

torydebra commented 9 months ago

Hi, you can set the zero with this #4